KR102409175B1 - Container raising/lowering conveyance apparatus - Google Patents

Abstract

In the container lifting and transporting apparatus according to the present invention, at least two lifting and lowering bodies 65A and 65B corresponding to two parallel sides of an article transport container C having a right-angled parallelogram planar shape approach each other during lifting and lowering. / It is supported freely to move apart, and a support unit 67a facing each of two parallel sides of the container C is attached to each lifting body, and to each of these support units 67a, the container C A pair of pin-shaped support tools 76a and 76b protruding toward the container C side at symmetrical positions on both sides with respect to the vertical centerline of each of the two parallel sides are arranged and supported at appropriate intervals in the vertical direction, and each of these pin-shaped support tools is A pair of pin-shaped support tools 76a with a narrow spacing and a pair of pin-shaped support tools 76b with a wide spacing are alternately arranged in the up-down direction, which is free to move in and out, and is elastically held at the protruding position by a spring.

Description

Container lifting and transporting device {CONTAINER RAISING/LOWERING CONVEYANCE APPARATUS}

The present invention relates to a conveying apparatus that lifts and conveys a box-shaped container for conveying stackable articles having a right-angled parallelogram in planar shape.

As a transport apparatus capable of lifting and transporting a box-shaped container, for example, as described in Patent Document 1, a lifting body suspended freely by lifting and lowering is provided on a traveling body of a overhead crane type, and below the lifting body. The container raising/lowering conveyance apparatus which installed the hook for container suspension freely opening and closing is known. This conveying device is configured to protrude a fitting bracket for hooking and withdrawing the container hanging hook, which can be opened and closed, on the ceiling surface of the container, or to provide a gap in which the container hanging hook can be hung or removed from the bottom of the container. will secure it.

Japanese Patent Application Laid-Open No. 06-115608

(Summary of the invention)

(The problem the invention is trying to solve)

In the configuration described in Patent Document 1, it is a prerequisite that an engaging bracket for hanging only protrudes from the ceiling surface of the container as a transport target, or that a gap is formed under the bottom surface of the container. A small plastic container with an upper release that can be lifted and transported cannot be used as it is as a transport target. Of course, as a reinforcing measure, as a reinforcing measure, a plastic container that is generally in circulation is integrally formed with a reinforcing flange portion continuously parallel to the circumferential direction on the upper end side of the outer surface. If it is used to be hung on the flanges on both sides, a small plastic container with an upper release that is generally distributed as described above can also be used as a transport object. of are often used in combination, and since the height on the bottom surface of the flange portion of the object on which the hanging hook is hung is not constant, the hanging hook is not precisely controlled according to the height of the flange portion of the container of the work object. No, it's not practical.

The present invention proposes a container lifting and transporting apparatus capable of solving the problems of the related art, and the container lifting and transporting apparatus according to the present invention is provided in order to facilitate understanding of the relationship with the embodiments to be described later. When the reference numerals used in the description are shown with parentheses, at least two lifting and lowering bodies 65A and 65B corresponding to each of the two parallel sides of the article transport container C having a right-angled parallelogram in the plane shape are the supporting structures. A support unit facing each of the two parallel side surfaces of the container C is supported by the (sub-carrying body 3) freely moving in and out of and approaching each other for lifting and lowering, and in each of the lifting bodies 65A and 65B for lifting. Attached to each of these support units 67a is a pair of pin-shaped support tools 76a protruding toward the container C at both sides symmetrical positions with respect to the vertical centerline of each of the two parallel sides of the container C. , 76b) are arranged and supported at an appropriate distance in the vertical direction, and each of these pin-shaped support tools 76a and 76b are free to enter and exit and are elastically pressed and held at the protruding position by the spring 78. , a pair of pin-shaped support tools 76a with a narrow space and a pair of pin-shaped support tools 76b with a wide space are arranged alternately in the vertical direction.

In the container lifting and transporting device having the above configuration, a moving body capable of traveling in the space above the container to be handled or a movable arm capable of horizontally swinging is used as the supporting structure, whereby the lifted container is moved to the traveling body or the movable arm. It can be used as a container transport means that can be moved and unloaded to another location according to the operation of Moreover, the said support structure is erected at the fixed position, the container which has been conveyed by the conveyance traveling body is once lifted to the fixed position below this supporting structure, and the other conveyance traveling sent to the said fixed position. A method of use such as lowering the container on a sieve is also possible.

Thus, according to the container lifting and transporting device having the above configuration, in the first stroke, at least two lifting and lowering members are lowered to a position next to the container to be transported. In a state where the relative positions of each lifting member and the container to be transported in a plane view are determined so that the symmetrical center line of each pair of pin-shaped support tools substantially overlaps with the vertical center line of the side of the container, the lifting member is separated. lower it After this descent, each lifting/lowering member is horizontally moved close to each other with respect to each of the two parallel side surfaces of the container to be conveyed, and the said support unit is made adjacent to the flange part of the said container side. As a result, among the plurality of upper and lower pin-shaped support tools provided in each support unit, the pin-shaped support tool at a position in contact with the flange portion of the container side resists the elastic urging force of the spring and retracts relatively toward the support unit side, All the pin-shaped support tools that remain in contact with the flange portion of the side surface and are in other protruding states enter into the space above and below the flange portion of the side surface of the container. In this state, by moving each lifting member upward, a pair of pin-shaped support tools of the same height located just below the flange portion on the side of the container among the pin-shaped support tools of each support unit are provided with the flange portion. The container to be transported is lifted through the When the container to be conveyed is lifted to a predetermined height, if necessary, the support structure supporting each lifting member is moved, and then each lifting member is lowered in a procedure opposite to the above. , the container to be conveyed can be lowered to the target position by moving it in a direction that is laterally separated from the container.

Although the container to be conveyed can be lifted and conveyed as mentioned above, according to the said structure of this invention, one (a pair) of pin-shaped support tools with which the said elevating body for lifting is equipped is a conveyance object container. It is not necessary to control the descent of the lifting body so as to correspond to the position directly below the specific flange portion of What is necessary is just to make the large area|region of a direction correspond to the flange part of the container to be conveyed, so that raising/lowering control of the said lifting body for lifting becomes very easy. Furthermore, by supporting the symmetrical positions on both sides with respect to the vertical centerline of at least the two parallel sides of the container to be conveyed by the pin-shaped support tools, the container can be stably lifted in the horizontal posture.

Further, in each pair of upper and lower plural stages of pin support tools 76a and 76b, a pair of narrow pin support tools 76a and a pair of wide pin support tools 76b are alternately arranged. Therefore, a pair of pin-shaped support tools 76b with a wide space are arranged at the center height between the upper and lower sides of a pair of pin-shaped support tools 76a with a narrow space, and a pair of pins with a wide space when viewed from the side It becomes possible to configure so that the shape support tool 76b and a pair of narrow pin shape support tools 76a overlap. By configuring in this way, the pitch in the vertical direction that can support the flange portion of the container can be reduced while configuring the thickness of the pin-shaped support tool to have a thickness sufficient in terms of load-bearing performance. The lifting distance of the lifting body for lifting before lifting by the support tool can be made smaller than the thickness of the pin-shaped support tool.

In addition, in the case of carrying out the present invention, the vertical bar-shaped body supported by the supporting structure (sub-carrier 3) freely in the lifting and lowering and moving to/from each other in each lifting body 65A, 65B. 66 ) is provided, and the support unit 67a can be freely moved up and down with respect to the vertical rod-shaped body 66 , and can be configured to be supported at a fixed height position of the vertical rod-shaped body 66 . According to this configuration, in the case of stacking the container to be transported by lowering it on top of another container, even if the lowering stop position of the lifting member is somewhat lowered, the support unit is moved through the pin-shaped support tool to the plan of the lowered container. Just as in the case where the support unit is forcibly lowered integrally with the lifting body just by being hung on the branch, another pin-shaped support tool positioned directly above the flange portion of the unloaded container can remove the flange portion. A problem such as pushing down from above is eliminated, and while controlling the elevation of the lifting member for lifting is facilitated, damage to the flange portion of the container or the pin-shaped support tool can be prevented.

The structure of the support unit provided with the pin-shaped support tool may be any structure as long as the respective pin-shaped support tools are supported freely in and out and held by a spring at the protruding position. In particular, each support unit 67a , 67b), a casing 75 for freely supporting the pin-shaped support tools 76a and 76b and for containing the spring 78, one pair each on both sides of the vertical bar-shaped body 66 The vertical rod-shaped body 66 and the slide guide rail 71 provided on the container side surface of the vertical rod-shaped body 66 are structured to support the pin-shaped support tools 76a and 76b in half. , and the slide blocks (71a, 71b) installed on the casing (75) to fit into the slide guide rail (71) can be configured to enter the inside of the casing (75) when viewed from the side. According to this configuration, compared to the case where the entire support unit is configured to protrude toward the container with respect to the vertical bar-shaped body, the entire support unit can be configured more compactly, and the container flange portion of the pin-shaped support tool is supported. The distal end of the fin is brought closer to the vertical bar-shaped body when viewed from the side, so that the load applied to the pin-shaped support tool or the casing of the support unit can be reduced.

Moreover, the some support unit 67a, 67b can be supported by each raising/lowering body 65A, 65B at an appropriate space|interval in an up-down direction. According to this configuration, even when a large number of containers to be conveyed are stacked, the lowest container adjacent to the lower support unit and the middle adjacent to the upper support unit among all the stacked containers. By separately supporting both the height or the uppermost container, it is possible to stably and safely lift and transport the entire stacked container. Moreover, since the maximum load applied to the pin-shaped support tool of the support unit can be suppressed, the support unit including the pin-shaped support tool can also be implemented at light weight and inexpensively.

1 is a plan view showing a storage facility;
2 is a front view of the storage facility.
3 is a side view of the storage facility;
Fig. 4A is a partially cut-away rear view showing a main carrier on a sub-carrier, and Fig. 4B is a side view thereof.
Fig. 5 is a partially cut-away plan view showing the main running body.
Fig. 6 is a plan view showing the auxiliary running body on the main running body.
Fig. 7A is a front view showing the auxiliary traveling body, and Fig. 7B is a partial longitudinal side view showing the auxiliary traveling body.
8 is a plan view showing a detailed structure on the sub-carrier.
Fig. 9 is a plan view showing a pair of main travel rods in the X direction supported on the sub-running body.
10 is a plan view showing a pair of additional shells in the Y direction supported on the main shaft.
11A is a partially cut-away front view showing the X-direction driving means for driving the main carrier, and FIG. 11B is a front view showing the lifting and lowering driving means installed in the main carrier.
12 is a side view showing a Y-direction driving means for driving the additional body.
13 is a side view showing an additional pole supported on one main pole and a lifting and lowering driving means.
Fig. 14 is a plan view showing the support structure of the four gripping elevators.
Fig. 15 is a partially transverse plan view in a state in which the four gripping elevators are closest to the center of the container gripping area.
Fig. 16 is a front view showing a state in which a pair of gripping elevators in the X direction are maximally separated from each other;
Fig. 17 is a front view showing a state in which a pair of gripping elevators in the X direction are closest to each other.
Fig. 18 is a side view showing a pair of gripping elevators in the Y-direction and the lifting elevators in an intermediate position therebetween in a state away from each other.
Fig. 19 is a side view showing a pair of gripping elevators in the Y direction in the closest state and the lifting elevators in an intermediate position therebetween.
20A is a partial transverse plan view illustrating a state in which four gripping elevators and a pair of lifting elevators in the X direction are maximally separated from each other, and FIG. 20B is four gripping elevators and a pair of lifting elevators in the X direction. It is a partial cross-sectional plan view showing the state in which the elevators most approach each other.
Fig. 21A is a partial longitudinal front view showing one lifting elevator and one gripping elevator on the same side, Fig. 21B is another lifting elevator and its supporting structure, and one holding elevator on the same side; It is a partial longitudinal front view which shows the elevator body for gripping.
Fig. 22A is an enlarged front view showing a lower support unit included in a lifting body for lifting, Fig. 22B is a side view thereof, Fig. 22C is a transverse plan view thereof, and Fig. 22D is an enlarged longitudinal side view of its principal part.
Fig. 23 is a partially transverse plan view showing a state when the container is gripped and raised and lowered by four holding elevators and a pair of lifting and lowering bodies in the X direction.
Fig. 24 is a longitudinal front view for explaining the action of the lifting member for lifting on the container, wherein the left half shows a state just before lifting the container, and the right half shows the state immediately after lifting the container.
Fig. 25 is a partially cut-away, partially longitudinal side view showing a state at the time of lifting and conveying a container by the lifting body for lifting.

(Form for implementing the invention)

1 to 3, 1 is a overhead crane type conveying device, and is arranged in the upper side of the storage area whose planar shape is comprised with the flat floor surface of a right-angled parallelogram. This conveying apparatus 1 travels in the X direction (left-right width direction) of the main body 2 which can run freely in the Y-direction (front-back depth direction) on a horizontal plane, and the X-direction (left-right width direction) perpendicular to the running direction of this main body 2 Freely, the auxiliary traveling body 3 supported on the main traveling body 2 is provided. In the storage area, a rectangular frame structure 4 surrounding the storage area is horizontally erected at a certain height on the floor through the pillar member 5, and is parallel to the Y direction of the rectangular frame structure 4 On one set of beam members 4a and 4b, both ends of the main traveling body 2 are supported so as to run freely in the Y direction. The main running body 2 is provided with a pair of side frames 2a and 2b with a length spanning the entire length of the X direction, which are parallel to each other at appropriate intervals in the traveling direction (Y direction), and these side frame 2a, On 2b), both sides of the sub-running body 3 are supported so as to run freely in the X direction.

In the said storage area, the conveyor 6 for warehousing and the conveyor 7 for leaving are installed side by side. The transfer end portions 6a and 7a on the storage area side of both of these conveyors 6 and 7 are contained in the storage area, and the main running body 2 on the beam members 4a and 4b of the rectangular frame structure 4 . ) and the running in the X-direction of the sub-carrier 3 on the side frames 2a and 2b of the main running body 2 , the sub-carrier 3 is surrounded by the rectangular frame structure 4 . In a storage area, it can be located directly above the whole area arbitrary position including the end parts 6a, 7a for transfer of the said conveyors 6 and 7 for entering/exiting.

As shown in Figs. 4 and 5, the main running body 2 is freely movable in the longitudinal direction of the beam members 4a, 4b, and is supported on the beam members 4a, 4b. Bogies 8a, 8b. The pair of side frames 2a, 2b is supported on the bogies 8a, 8b, and the bogies 8a, 8b have a plurality of rolling beam members 4a, 4b. The wheel 9 and the roller 10 for positioning which pinches|interposes the beam members 4a, 4b from left and right both sides are provided. Timing belts 11a and 11b rotatably rotatably along these beam members 4a and 4b are spanned on each of the beam members 4a and 4b, and both ends of each of the timing belts 11a and 11b are connected to the bogie portion 8a, One of the pulleys fixedly attached to 8b) and spanning each of the timing belts 11a and 11b is linked to one motor 13 via the transmission shaft 12, and both timing belts are driven by the motor 13 It is comprised so that the main running body 2 may reciprocate parallel to the Y direction by being synchronously and rotationally driven by (11a, 11b).

On one side frame 2a of the main traveling body 2, a timing belt 14 is rotatably rotatably hung along the side frame 2a, and a motor 15 for rotationally driving the timing belt 14 is provided. has been As shown in FIGS. 6 and 7 , the sub-carrier 3 is a pair of side frames 2a and 2b disposed above the side frames 2a and 2b in parallel with the side frames 2a and 2b of the main traveling body 2 . is constituted by a pair of connecting frames 3c and 3d that connect and integrate side frames 3a and 3b of ), a plurality of wheels 16 for rolling on the side frames 2a and 2b are axially supported, and at positions in the vicinity of both ends of one side frame 3a, a side frame 2a of the main running body 2 is provided. Bearing plates 18a and 18b for axially supporting a pair of rollers 17 sandwiched therebetween are provided. Both ends of the timing belt 14 are fixedly attached to the bearing plates 18a and 18b, and by rotationally driving the timing belt 14 by a motor 15, the sub-carrier 3 is reciprocally moved in the X direction. can

According to the above configuration, the motor 13 is actuated to move the main running body 2 in the Y direction, and the auxiliary running body 3 is moved on the main running body 2 by operating the motor 15 on the main running body 2 . ) in the X-direction, the sub-running body 3 can be positioned directly above an arbitrary position of the storage area in which the planar shape surrounded by the rectangular frame structure 4 is rectangular.

As shown in Figs. 8 to 10, the auxiliary traveling body 3 has guide rails 20a and 20b laid on its side frames 3a and 3b, and the guide rails 20a and 20b fitted therein. Through the slide blocks 19a and 19b, a pair of main travel rods 21a and 21b that are free to move to/from each other in the X direction are mounted, and the pair of main pillars 21a and 21b are synchronized with each other in the X direction. X-direction driving means 22 for moving the approach/separation to each other is provided. The X-direction driving means 22 includes a pair of timing belts 23a and 23b rotatably spanned along these side frames 3a and 3b on the outside of the side frames 3a and 3b of the sub-running body 3; It is composed of a motor 26 mounted on the sub-carrier 3, interlocked with both timing belts 23a and 23b via the transmission shaft 24 and the belt transmission means 25, and both timing belts 23a and 23b. is connected to both ends of one main stem 21a through the connecting members 27a and 27b, and the lower path portions of both timing belts 23a and 23b are connected to the other side through the connecting members 28a and 28b. It is connected to both ends of the main moving rod (21b). According to the X-direction driving means 22 configured in this way, by electrostatically driving both timing belts 23a and 23b by the motor 26, the pair of main shafts 21a and 21b are moved close to each other, and the motor ( 26), by reversely driving both timing belts 23a and 23b, the pair of main travel rods 21a and 21b can be moved apart from each other.

On the pair of main pillars 21a and 21b, as shown in Figs. 10 to 12, through guide rails 29a and 29b laid parallel to the Y direction on these main pillars 21a and 21b, A pair of additional pillars 30a, 30b, and 31a, 31b, respectively, which are free to move in the Y-direction are provided. Among these additional shells 30a to 31b, a pair of additional shells 30a and 31b in the X direction located on the same side in the Y direction are parallel to the X direction, and are disposed on the outside of the additional shells 30a and 31b. In the X direction through the guide rail 33a attached to the rod-shaped body 32a for interlocking|interlocking to the rod-shaped body 32a for interlocking|interlocking, and the slide blocks 34a, 35a fitted to the said guide rail 33a. The other pair of additional shell bars 30b and 31a in the X-direction is supported movably and is interlocked with the interlocking rod-shaped body 32b disposed on the outer side of the additional shell bars 30b and 31a parallel to the X-direction. It is movably supported in the X direction via the guide rail 33b provided on the rod-shaped body 32b for use and slide blocks 34b and 35b fitted to the guide rail 33b.

And the pair of rod-shaped bodies 32a, 32b for interlocking|interlocking are mutually approaching/separatingly moved in the Y direction by the Y-direction drive means 36. As shown in FIG. The Y-direction driving means 36 includes a pair of timing belts 37a and 37b that extend from the outside of the pair of interlocking rod-shaped bodies 32a and 32b to the sub-running body 3 in parallel to the Y direction; It is comprised by the motor 40 mounted on the sub-carrier 3 which rotationally drives these timing belts 37a, 37b via the transmission shaft 38 and the belt transmission means 39. It is comprised. Thus, the upper path portion of the pair of timing belts 37a and 37b is connected to both ends of one of the interlocking rod-shaped bodies 32a via the connecting members 41a and 41b, and the timing belts 37a and 37b The lower path portion is connected to both ends of the other interlocking rod-shaped body 32b via connecting members 42a and 42b. According to the Y-direction driving means 36 constituted in this way, by electrostatically driving both timing belts 37a and 37b by the motor 40, the pair of interlocking rod-shaped bodies 32a and 32b are mutually moved in the Y direction. The pair of interlocking rod-shaped bodies 32a and 32b can be moved apart from each other in the Y-direction by moving them approaching and driving the timing belts 37a and 37b in reverse with the motor 40 . When the pair of interlocking rod-shaped bodies 32a, 32b move close to each other, the additional shells 30a, 30b/31a, 31b supported at intervals between the main shafts 21a, 21b with respect to the X direction are Each of the moving close to each other, the pair of interlocking rod-shaped body (32a, 32b) is moved away from each other, the additional body (30a, 30b/31a, 31b) is moved apart from each other, respectively.

As shown in Figs. 10 and 11b, the four additional shells 30a to 31b are each provided with inverted L-shaped support members 43a, 43b/44a, 44b extending downward from the inside in the X direction, Inside the vertical portion of each of the supporting members 43a to 44b, the lifting and lowering bodies 45a to 46b for holding are respectively attached. Each of these lifting and lowering bodies 45a to 46b for holding is made of a rod-shaped member having a length in the vertical direction, and is provided with a fitting portion 47 having an angle in cross section over its entire length in the vertical direction. As shown in FIG. 23, this fitting part 47 is arrange|positioned in the direction which can be fitted to the four corner parts of the container C to be conveyed, respectively, and faces the container C. On the outer side of the right-angled inner surface, an anti-skid belt-shaped body 48 is laid so as to be continuous over the entire length. On the outside of the X-direction plate portion parallel to the X-direction, a guide rail 49 for raising/lowering continuous over the entire length is laid on each of these lifting and lowering bodies 45a to 46b for holding, and the respective supporting members 43a to 44b. ), a slide block 50 fitted to the guide rail 49 for lifting and lowering and supporting each of these lifting and lowering bodies 45a to 46b for holding so as to be raised and lowered is provided on the inside of the vertical portion.

14 and 18, the upper ends of the gripping elevating bodies 45a, 45b/46a, 46b parallel to the Y-direction, respectively, approach/separate from each other in the Y-direction by the connecting means 51A, 51B. freely connected. Both of these connecting means 51A and 51B are of a point-symmetrical structure in plan view, and slide guide rails 53 and 54 parallel to the Y direction on the upper and inner surfaces of the long prismatic member 52 in the Y direction. An L-shaped support plate 55 for supporting the upper ends of the lifting and lowering bodies 45a and 46a for gripping is attached to the slide block 53a that is installed and fitted to the slide guide rail 53 on the upper side, and the inner slide guide A support plate 56 is attached to the slide block 54a fitted to the rail 54 for supporting the upper ends of the lifting/lowering bodies 45b and 46b for holding.

The upper end and the L-shaped support plate 55 of the gripping elevating body 45a, 46a are perpendicular to the inside of the upper end of the Y-direction plate portion parallel to the Y-direction of the gripping elevating body 45a, 46a, and the L-shaped support plate 55 At the outer end of the board part 55a, it is connected by the support shaft 55b parallel to the X direction adjacent to the inside of the X direction board part of the holding|lifting bodies 45a, 46a for holding. The upper end of the gripping elevating body 45b, 46b and the support plate 56 are located inside the upper end of the Y-direction plate portion of the gripping elevating body 45b, 46b and at the outer end of the support plate 56, the gripping elevating body 45b , 46b) adjacent to the inner side of the X-direction plate portion, and connected by a support shaft 56a parallel to the X-direction. And, as shown in Fig. 15, when a pair of holding elevators 45a, 45b/46a, 46b in the Y direction approach each other in the Y direction, the holding elevators 45a and 46a are supported. A support plate 56 for supporting the lifting and lowering bodies 45b and 46b for gripping and a slide block 54a for supporting this enter inside the vertical plate portion 55a of the L-shaped support plate 55, so that a pair of Y-direction It is comprised so that gripping|lifting body 45a, 45b/46a, 46b can mutually approach to the state which enters inward from the Y direction both ends of the prismatic-shaped member 52 in planar view.

With the above configuration, one pair of the holding elevators 45a and 45b in the Y direction and the connecting means 51A located between the upper ends thereof are a supporting member for supporting the holding elevators 45a and 45b. (43a, 43b) (additional movable table (30a, 30b)) can be raised and lowered integrally, and the other Y-direction pair of lifting and lowering bodies 46a and 46b for gripping, and a connecting means 51B located between the upper end thereof. ) can be raised and lowered integrally with respect to the supporting members 44a and 44b (the movable bases 31a and 31b) that support the lifting members 46a and 46b for holding.

As shown in Fig. 9, the lifting and lowering drive means 57A for lifting and lowering the gripping elevating bodies 45a and 45b and the connecting means 51A is attached to the lower central portion of the main moving stand 21a, and the gripping elevating body is attached to the lower center portion. A lifting driving means 57B for lifting and lowering the 46a and 46b and the connecting means 51B is attached to the lower central portion of the main moving stand 21b. Both lifting and lowering driving means 57A and 57B have a point-symmetrical structure in plan view as shown in Fig. 9, and as shown in Figs. 9, 11B, 13 and 14, a pair of main support plates in the Y direction. A pair of Y-direction drive pulleys 60a and 60b axially supported by a common drive shaft 59 between 58a and the sub support plate 58b and both main part support plates 58a and 58b, supported by the main support plate 58a A motor 61 with a brake connected to the drive pulleys 60a and 60b via a common drive shaft 59 and a transmission belt 59a, the main part is supported by the supporting plates 58a and 58b, and each drive pulley 60a , 60b) each provided with a pair of upper and lower guide pulleys 62a, 62b/63a, 63b, and a pair of Y-direction elevating drive timing belts 64a and 64b respectively located at the upper and lower sides.

As shown in FIG. 23, between the holding|lifting bodies 45a, 45b/46a, 46b for holding parallel to a Y direction, the raising/lowering bodies 65A, 65B for lifting are provided. Each lifting member 65A, 65B has a structure symmetrical to each other in the X direction, and as shown in Fig. 18, a vertical bar-shaped body 66 having a length substantially equal to that of the holding body 45a to 46b. ) and upper and lower two-stage support units 67a and 67b attached to the vertical bar-shaped body 66 . The vertical rod-shaped body 66 has an upper end connected to the central position of the prismatic member 52 in the Y-direction length of each connecting means 51A and 51B via an attachment plate 66a, and at the lower end thereof , A belt connecting plate 68 of a flat plate shape long in the Y direction is attached in an inverted T-shape.

Timing belts 64a and 64b for lifting and lowering of each lifting drive means 57A and 57B are located symmetrically on both sides in the Y direction with respect to the vertical bar-shaped body 66 of each lifting and lowering body 65A, 65B. One end is connected to the outer surfaces of both ends of the Y-direction length of the prismatic member 52 through the belt attachment member 69, and the other end is the upper side of both ends of the Y-direction length of the belt connecting plate 68 to each of the upper and lower pairs of the lifting and lowering driving means 57A and 57B, as shown in FIG. It is wound on the drive pulley 60a/60b via between the guide pulleys 62a, 62b/63a, 63b of the. In addition, the timing belts 64a, 64b for lifting and lowering drive, between the upper and lower both ends and the guide pulleys 62a-63b, are spread out without drooping parallel to the gripping lifting bodies 45a-46b (vertical rod-shaped body 66). have.

According to each lift drive means 57A, 57B comprised as mentioned above, when the motor 61 with brake of both lift drive means 57A, 57B is not operating (drive pulley 60a, 60b is a braking state) When in position), all the holding elevators 45a to 46b and the vertical bar-shaped body 66 of the lifting members 65A and 65B are in a locked state so that they cannot be lifted, and are stopped at the height at that time. are doing The motor 61 with brake of both lift drive means 57A, 57B is synchronously operated, and the timing belts 64a, 64b for raising/lowering drive are synchronously raised by the drive pulleys 60a, 60b in the direction which raises the lower end. When driven, the vertical rod-shaped body 66 of all the holding elevators 45a to 46b and the lifting members 65A and 65B resists gravity and moves up and down at a constant speed integrally, and vice versa. When driven in the direction, all the gripping elevating bodies 45a to 46b and the vertical rod-shaped body 66 of the lifting elevating bodies 65A and 65B move downward at a constant speed integrally by gravity.

All the supporting units 67a and 67b included in the lifting bodies 65A and 65B are of the same structure, and as shown in Figs. 18, 21, and 22, the A vertical bar-shaped body 66 is provided through a slide guide rail 71 laid on the inside so as to be continuous over the entire length, and two upper and lower slide blocks 71a that can be freely raised and lowered to the slide guide rail 71. ), the upper support unit 67a is received by a pair of accommodating members 72 installed on both sides in the Y direction of the middle height of the vertical bar-shaped body 66, and the lower support unit 67a The unit 67b is received by the belt connecting plate 68 at the lower end of the vertical rod-shaped body 66 .

These support units 67a and 67b are provided with a longitudinally long hollow casing 75 . The casing 75 is located inside the vertical rod-shaped body 66 and has a substrate 73 with a width protruding from both sides in the Y direction, and the Y of the vertical rod-shaped body 66 from the rear of the substrate 73 . The slide block 71a is attached to the back of the substrate 73 between the back plates 74a and 74b. In addition, the casing 75 is supported by the substrate 73 and the back plates 74a, 74b, and is provided with a plurality of pin-shaped support tools 76a and 76b that are free to move in and out of the substrate 73 in the X direction. . Each of the pin-shaped support tools 76a, 76b is, within the casing 75, between the back plates 74a, 74b and the flange portion 77 of each of the pin-shaped support tools 76a, 76b, each pin-shaped The compression coil spring 78 loosely fitted to the support tools 76a and 76b is elastically pressed in a direction protruding inward from the substrate 73, and the flange portion 77 is at a protrusion limit position in contact with the substrate 73. is being maintained And each pin-shaped support tool 76a, 76b is the center line of the vertical direction of the vertical bar-shaped main body 66 when seen from the X direction (two holding|lifting bodies 45a, 45b/46a, 46b for holding parallel to a Y direction) ), a pair of pin-shaped support tools 76a arranged at narrow intervals symmetrically in the Y-direction, and a pair of pin-shaped support tools ( 76b) is alternately arranged at vertical intervals in which the respective pin-shaped supporting tools 76a and 76b partially overlap each other in the vertical direction when viewed from the Y direction.

The vertical bar-shaped body 66 of each lifting body 65A, 65B has a slide guide rail 79 on the outside opposite to the inside that supports the support units 67a and 67b so as to be continuous over the entire length. ) is installed, and the slide blocks 80a and 80b that fit in this slide guide rail 79 to freely support each vertical bar-shaped body 66 up and down are coupled to the bottom surface of the main body 21a, 21b with the upper ends. It is attached to the inner side of the vertical support members 80c and 80d. Therefore, the vertical bar-shaped body 66 of each lifting body 65A, 65B can only be raised and lowered at a central position between the two gripping elevator bodies 45a, 45b/46a, 46b parallel to the Y direction. So, it is supported by the main moving bars 21a, 21b, and with respect to lifting and lowering, the vertical bar of the two gripping elevating bodies 45a and 45b parallel to the Y direction and the lifting elevating body 65A at an intermediate position thereof. The vertical bar-shaped body 66 of the shape body 66 and the two gripping elevators 46a and 46b parallel to the Y-direction and the lifting and lowering body 65B at an intermediate position are each integrally lifted and lowered. will do

As shown in Figs. 16 and 20, between the two gripping elevating bodies 45a, 46b/45b, and 46a parallel to the X direction among the holding elevators 45a to 46b, in the X direction of both Parallelogram link mechanisms 81A and 81B for allowing only parallel movement are interposed. These parallelogram link mechanisms 81A and 81B have the same structure as each other, and are interposed between a central elevation link member 82, the central elevation link member 82, and one of the gripping elevations 45a/46a. A pair of upper and lower parallel oscillation links 83a and 83b, and a pair of upper and lower parallel oscillation links 84a and 84b interposed between the center lifting link member 82 and the other gripping lifting body 45b/46b is composed of The upper parallel oscillation links 83a and 84a are the upper end of the center lifting link member 82 and, at a position higher than this, on the outer side of the X-direction plate portion of the gripping lifting body 45a, 46b/46a, 45b, respectively. Supported, the lower parallel swing links 83b and 84b are parallel to the parallel swing links 83a and 84a positioned directly above, respectively, the lower end of the center lifting link member 82 and the holding body 45a; 46b/46a, 45b, respectively axially supported on the outside of the X-direction plate, in a situation where the gap between the two gripping elevating bodies 45a, 46b/45b, and 46a parallel to the X-direction is maximized, FIG. As shown in FIG. 16, the parallel rocking|fluctuation links 83a-84b are comprised so that it may incline diagonally upward with respect to the center raising/lowering link member 82. As shown in FIG.

As shown in Figs. 18 and 20, between the two gripping elevating bodies 45a, 45b/46a, 46b parallel to the Y-direction among the gripping elevating bodies 45a to 46b, in the Y-direction, Parallelogram link mechanisms 85A and 85B for allowing only parallel movement are interposed. Both of these parallelogram link mechanisms 85A and 85B have the same structure as each other, and are provided with upper and lower two-stage lifting link units 86 and 87 . The upper lifting link unit 86 is disposed above the upper support unit 67a of the lifting members 65A and 65B, and the lower lifting link unit 87 is the lifting body ( It is arrange|positioned at the intermediate position of both upper and lower support units 67a, 67b in 65A, 65B.

These upper and lower two-stage lifting link units 86 and 87 have the same structure as each other, and are mounted on the slide guide rail 71 inside the vertical bar-shaped body 66 of the lifting members 65A and 65B. A central elevating link member 88 supported by elevating freely via two upper and lower slide blocks 88a, and a pair of upper and lower sides interposed between the central elevating link member 88 and one holding elevating body 45a/46a is composed of parallel swing links 89a and 89b of . The upper parallel oscillation links 89a and 90a are the upper end of the center lifting link member 88 and, at a position higher than this, on the outer side of the Y-direction plate portion of the gripping lifting body 45a, 45b/46a, 46b, respectively. Supported, the lower parallel swing links 89b and 90b are parallel to the parallel swing links 89a and 90a positioned directly above, respectively, the lower end of the central elevation link member 88 and the holding body 45a; 45b/46a, 46b are respectively axially supported on the outside of the Y-direction plate portion, and as shown in FIG. 18 , in a situation where the gap between the gripping elevating bodies 45a, 46a/45b, 46b is maximized, Each parallel oscillation link 89a-90b is comprised so that it may incline diagonally upward with respect to the center lifting link member 88. As shown in FIG. Of course, in a situation in which the gap between the gripping elevating members 45a, 46a/45b, and 46b is maximized, each central elevating link member 88 is the It is located at a position most upwardly away from the support units 67a and 67b.

Hereinafter, the usage method and operation will be described. In a storage area having a rectangular planar shape surrounded by the rectangular frame structure 4, the container C is placed in a direction in which each side is parallel to the X direction and the Y direction in a plan view. is witty At this time, between the adjacent containers C, the space for the lifting/lowering bodies 45a-46b for holding and the raising/lowering bodies 65A, 65B for lifting with which the conveying apparatus 1 is equipped are ensured. Moreover, although it is also possible to mount one container C independently in a storage area, in planar view, several containers C with the same size are piled up. Of course, the size of the container C in plan view is handled within the range of the set minimum size and maximum size. In addition, as shown in FIGS. 20 and 23, the position information for each container C placed in the storage area is an X-Y absolute coordinate value on the storage area of the central position P of the container C in plan view, It is recorded in the recording means provided by the control apparatus for automatically operating the conveying apparatus 1 together with other necessary information, such as container size information and tiering information.

On the other hand, as shown in Figs. 23 to 25, all containers C handled in this storage facility are flange portions for reinforcing that continuously protrude over the entire perimeter at the uppermost stage and three places directly below and at the lowermost stage. (F1-F3) is provided, and the leg wall part B is provided in the bottom surface. Accordingly, when containers C having the same planar size are stacked, the leg wall portions B of the upper container C are fitted into the opening of the lower container C, and the horizontal position of the upper and lower containers C While preventing the shift, the lowermost flange portion F3 of the upper container C is overlapped on the uppermost flange portion F1 of the lower container C. As shown in FIG. In the present invention, when lifting the container C, the upper and lower two flange portions F1 and F2 of the container C are lifted from each supporting unit 67a, 67b of the lifting body 65A, 65B. The pin-shaped support tools 76a and 76b are used as projections to be engaged.

As shown in Figs. 14 and 20A, the lifting and lowering bodies 45a to 46b for gripping and the lifting and lowering bodies 65A and 65B for the carrying device 1 are equipped with are a pair of poles in the X direction in plan view. In the rectangular vertical through opening surrounded by the pillars 21a and 21b and the pair of interlocking rods 32a and 32b in the Y direction, the container C that can be handled is outside the maximum size in plan view. It is located in a stand-by home position, and it is waiting at the upper limit height of a rise rather than the container maximum stacking height in a storage area when viewed from the side. From such a state, the pair of main pillars 21a and 21b in the X direction are moved to move synchronously in the X direction by moving the motor 26 of the X direction driving means 22 as described above, and each main pillar As described above, a pair of additional armrests 30a, 30b and 31a, 31b in the Y direction on (21a, 21b) moves the motor 40 of the Y direction driving means 36 to move synchronously in the Y direction. By doing so, as shown in Fig. 10, the right-angled parallelogram surrounded by the four gripping elevating bodies 45a to 46b is reduced, and conversely, the pair of main pillars 21a and 21b in the X direction are moved in the X direction. By synchronously moving apart and moving a pair of additional armrests 30a, 30b and 31a, 31b in the Y-direction, synchronously spaced apart in the Y-direction, the gripping elevating bodies 45a-46b and the lifting elevating body 65A; 65B) returns to the standby home position shown in FIG. 20A. The lifting and lowering bodies 65A and 65B are always located at the central positions between the pair of gripping and lowering bodies 45a and 45b in the Y direction and between 46a and 46b.

That is, the X-direction driving means 22 passes through the central position P of the right-angled parallelogram surrounded by the four gripping elevators 45a to 46b and the X-direction center line parallel to each side of the right-angled parallelogram. Among the (XL) and the Y-direction center line (YL), the four gripping elevators 45a to 46b are moved to/from each other in synchronization with each other symmetrically with respect to the Y-direction center line YL, and the Y-direction drive means 36 ) is to move the four gripping elevators 45a to 46b in synchronization with each other symmetrically with respect to the X-direction center line XL to approach/separate, and by these XY bidirectional driving means 22 and 36, the four The four gripping elevators 45a to 46b are horizontally moved so that the right-angled parallelogram is enlarged and reduced without changing the central position P and the direction of the right-angled parallelogram surrounded by the lifting bodies 45a to 46b. It has a structure that can be moved synchronously.

When releasing the container C placed and stored at a specific position in the storage area, the transport device 1 is automatically operated according to the position information of the shipping target container C, and the standby groove on the auxiliary traveling body 3 is carried out. The center position of the right-angled parallelogram surrounding the lifting members 45a to 46b for gripping stand-by at the position and the center position P of the shipping object container C are flat. The main traveling body 2 is traversed in the Y-direction, and the sub-running body 3 is traversed in the X-direction on the main traveling body 2 to a position (departure operation start position) that coincides with the . When the lifting and lowering bodies 45a to 46b for holding stand-by at the standby home position are positioned at the delivery operation start position, which is a predetermined position just above the shipment target container C, a predetermined size is greater than the plane size of the shipment target container C. The XY bidirectional driving means 22 and 36 are actuated to move each gripping elevating body 45a to 46b synchronously approaching to each corner-equivalent position (fall starting position) of the right-angled parallelogram as large as that. The stroke for synchronously approaching and moving the holding elevators 45a to 46b waiting at the standby home position to the lowering start position is the gripping lifting members 45a to 46b waiting at the standby home position on the auxiliary traveling body 3 . ) may be overlapped with the process of moving in the X and Y directions to the starting position of the leaving operation.

In the leaving operation start position, when the holding lifting bodies 45a to 46b are positioned at the lowering start position, the lifting/lowering driving means 57A, 57B will be moved, and the gripping lifting bodies 45a to 46b and the lifting/lowering objects will be moved. The vertical rod-shaped body 66 of the sieves 65A and 65B is integrated, and the belt connecting plate 68 at the lower end of the vertical rod-shaped body 66 is synchronously lowered to the lowering limit level close to the bottom surface of the storage area. move Next, the XY bidirectional driving means 22 and 36 are actuated, and each gripping lift is located at a position equidistant from the four corners (corners of the flanges F1 to F3) of the shipping target container C. By moving the sieves 45a to 46b synchronously toward the central position P of the shipping target container C, as shown in FIG. 23 , the fitting portion of each of these lifting and lowering bodies 45a to 46b for holding. (47) to fit into each corner of the shipping target container (C), and each corner portion of the shipping target container (C), the non-slip strip-shaped body 48 on both sides at right angles of each fitting section (47) pressurized contact with

At this time, the point of action of moving the gripping elevating bodies 45a to 46b in the X and Y directions is a support member ( It is the position of the slide block 50 on the side of 43a-44b), and when holding the container C on the bottom surface of the storage area, from the position of the slide block 50 on the side of the support member 43a-44b which is the said action point. , the holding elevators 45a to 46b are in a cantilever state extending downwardly, but these four holding elevators 45a to 46b are connected to the parallelogram link mechanisms 81A, 81B/85A, 85B. are connected to each other in the X direction and the Y direction by While maintaining in the parallel posture, the gravity acting on the central center lifting link member 82 and the central lifting link member 88 is applied via the respective parallel swing links 83a to 84b and 89a to 90b for the gripping elevator body. Since the (45a-46b) is elastically pressed in the direction to approach each other in the X-direction and the Y-direction, each corner of the tiered container (C) is reliably gripped by these four holding lifting bodies (45a-46b). can do it

At this time, the vertical bar-shaped body 66 of the lifting bodies 65A and 65B moves linearly in the X direction toward the central position in the width direction of both sides parallel to the Y direction of the shipping target container C. , the upper and lower two-stage support units 67a, 67b supported by the vertical bar-shaped body 66 are, as shown in FIG. 23, planar view, the holding lifting bodies 45a, 45b on both sides in the Y direction. Since the pin-shaped support tools 76a and 76b protrude inward from the abutting surface in the X direction (the surface of the anti-slip strip 48) in /46a, 46b, as described above, the gripping In the process in which the fitting portion 47 of the elevating body 45a to 46b is fitted to each corner portion of the shipping target container C, the pin-shaped support tool provided in the upper and lower two-stage support units 67a, 67b Among (76a, 76b), the pin-shaped support tool located at a position where at least a part of the tip surface abuts against the outer surface of the shipping target container C, that is, the peripheral surface of each flange portion F1 to F3, each flange portion ( Since it is received by the circumferential side surfaces of F1 to F3, it is relatively retracted into the casing 75 by resisting the elastic urging force of the compression coil spring 78, and the other pin-shaped support tools are the support units 67a and 67b. As it moves, it enters into a protruding state on both upper and lower sides of each of the flanges F1 to F3.

In the example shown in FIG. 24 and FIG. 25, among the stacked shipment object containers C, the container C1 of the lowest stage and the container C2 immediately above it are adjacent to the lower support unit 67b, and, while , two upper and lower containers (Cu, Cd) positioned at an intermediate height are adjacent to the upper support unit 67a, and pin-shaped support tools 76a, 76b in these upper and lower two-stage support units 67a, 67b. ), the flange portions F3 and F1 overlapping vertically between the containers C1 and C2 of the upper and lower two stages adjacent to each of the supporting units 67a and 67b and between the containers Cu and Cd and the lower container Several pin-shaped support tools 76a and 76b facing the second-stage flange portion F2 of (C1, Cd) resist the elastic urging force of the compression coil spring 78 and relatively retract into the casing 75. and the other pin-shaped support tools 76a and 76b remain protruding between the upper and lower flange portions F1 and F2 and between the upper and lower flange portions F2 and F3 of each container C1, C2, Cu, Cd. (the state of the left half of FIG. 24).

Next, the lifting and lowering driving means 57A and 57B are actuated, and the vertical rod-shaped body 66 of the gripping elevating bodies 45a to 46b and the lifting elevating bodies 65A and 65B at the lowering limit level are integrated. , when the synchronous upward movement is made to the lifting limit level, the support units 67a and 67b in a state supported by the belt connecting plate 68 at the lower end of the vertical rod-shaped body 66 and the storage member 72 at the intermediate height are raised. By this, among the pin-shaped support tools 76a, 76b of these support units 67a, 67b, the pins located in a protruding state just below the upper, upper and lower two flange portions F1, F2 of each container C. In the example of the shape support tool, FIG. 25, a pair of inner left and right pin shape support tools 76a shown in black connect the lowermost container C1 and the intermediate height container Cd to the flange portions F1 and F2, respectively. is lifted through Of course, depending on the space between the upper and lower two flange portions F1, F2, the space between the flange portions F2, F3, or the thickness of the flange portions F1, F2, either one of the flange portions F1/ Only through F2), the lowermost container C1 and the intermediate container Cd support the inner left and right pair of pin-shaped support tools 76a or the outer left and right pair of pin-shaped support tools 76a, 76b. It is lifted by the tool 76b.

As is clear from the above description, when there is a container Cd lifted by the upper support unit 67a as described above, an upper tiered container group with the container Cd as the lowest end, and the container ( It is divided into a lower tiered container group with the container directly under Cd) as the uppermost stage, the upper tiered container group is lifted by the upper support unit 67a through the lowermost container (C), and the lower tiered container group is The lower support unit 67b is lifted through the lowermost container C1. Naturally, when the number of stages of the stacked containers C is small and there is no container Cd lifted by the upper support unit 67a as described above, the lower support unit 67b is the lowest container The stacked container (C) is lifted through (C1).

As described above, the container C to be shipped is lifted vertically upward on the floor surface of the storage area by a pair of lifting and lowering bodies 65A and 65B in the X direction. Fitting portions 47 of the four holding elevators 45a to 46b that rise integrally with the lifting elevators 65A and 65B are fitted to the four corner portions of the container C of Since the container C to be shipped is kept in a vertical stacking posture, it is prevented that the entire container C stacked in a horizontal direction tilts and moves in the horizontal direction.

The container C for shipment supported by a pair of lifting and lowering bodies 65A, 65B for X direction while being positioned by the four holding|lifting bodies 45a-46b is lifted to a lifting limit level, If it loses, the automatic operation of the conveying device 1 causes the main traveling body 2 to traverse in the Y direction and the auxiliary traveling body 3 to traverse in the X direction on the main traveling body 2, and the container to be shipped (C) is horizontally conveyed to the position just above the end part 7a for transfer of the conveyor 7 for leaving at a level higher than the highest height of the container C stored in the storage area in a stacked state . On the other hand, while being positioned by the four holding|lifting bodies 45a-46b, the container C of shipment object supported by a pair of X-direction raising/lowering bodies 65A, 65B is raised to a limit level. When lifted, the container C to be shipped passes in the vertical direction of a rectangle surrounded by a pair of main travel rods 21a and 21b in the X direction and a pair of interlocking rods 32a and 32b in the Y direction. In the opening part, it is in the state which penetrated the sub-carrier 3 in the up-down direction.

Next, the operation of lifting the four holding elevators 45a to 46b and a pair of the lifting elevators 65A and 65B in the X direction on the floor surface of the storage area for the container C to be shipped out is different from the operation. Container C to be shipped out supported by a pair of lifting and lowering bodies 65A and 65B in the X direction while being positioned by the four holding elevators 45a to 46b by operating in the opposite order. can be lowered on the end 7a for transfer of the conveyor 7 for leaving. In addition, when warehousing the warehousing target container carried in by the warehousing conveyor 6 to the end part 6a for loading into the empty space in the storage area, the warehousing target container C is lifted on the floor surface of the storage area. In the same manner as at the time, the warehousing target container located on the transfer end 6a of the warehousing conveyor 6 is set for four holding elevating bodies 45a-46b and a pair of X-direction lifting elevating bodies ( 65A, 65B) after lifting to the limit level of the lift, conveying by automatic operation of the conveying apparatus 1 to the warehousing target position, and, after that, transfer of the shipment target container C of the shipment conveyor 7 What is necessary is just to lower the warehousing object container on the warehousing object empty space by the same method as when getting down on the dragon edge part 7a.

In the said storage facility, one container or the whole of several containers of a stacking state is conveyed and shipped from the specific position on a storage area to the end part 7a for transfer of the conveyor 7 for shipment, or the conveyor 6 for warehousing. ) can be transported and stored on the end 6a for loading to an empty space on the storage area, but as a method of loading and unloading other containers, an individual shipment method of leaving only a specific container (C) among stacked containers, or warehousing An individual warehousing method of warehousing only a specific container C among tiered containers located on the transfer end 6a of the conveyor 6, or a warehousing object of the same plane size on another container stored in the storage area A method of stacking and warehousing containers can be implemented.

In the individual storage and retrieval method, four holding elevators 45a to 46b and a pair of lifting and lowering elements 65A and 65B in the X direction are used with respect to the stacked container C including the container for individual storage and retrieval. , after descending to near the floor level of the individual storage and retrieval target containers, the container lifting operation as described above is performed. As a result, since the tiered container (C) in a state where the individual warehousing target container is located at the lowest level can be raised to the level of the lifting limit, thereafter, the tiered container (C) is moved to the target lowering position (conveyor for shipment ( 7), or an empty space on the storage area, or a container of the same flat size stored in the storage area) is conveyed horizontally to the position immediately above, and the tiered container is placed at the lowering position for the purpose. (C) down. Next, raising the four gripping elevators 45a to 46b laterally released from the tiered container C and a pair of the lifting elevators 65A and 65B in the X direction to the lifting limit level Instead, from the lowered tiered container C, an operation is performed to lift all containers other than the individual warehousing objects stacked on the lowest container that is the individual warehousing target container. As a result, only the individual warehousing target container remains at the target unloading position, and the warehousing operation of the individual warehousing target container is completed. Containers C other than the individual warehousing and retrieval objects that have been lifted leaving the individual warehousing target containers can be transported and unloaded to the original location or the new location in the same procedure as described above.

As described above, while positioning by the four holding elevators 45a to 46b, and supported by a pair of lifting and lowering bodies 65A and 65B in the X direction, one or tiered entry/exit object When the container C is unloaded at the target place, after the said warehousing object container C is received at the target place, the support units 67a, 67b descend a little, and the flange part of the said warehousing target container C By controlling the lifting driving means 57A, 57B so that the pin-shaped support tools 76a and 76b supporting the (F1/F2) are slightly separated downward from the flange portion F1/F2, the four gripping When moving the elevating body 45a-46b and the elevating body 65A, 65B for lifting to the outside from the container C for warehousing and discharging, the flange part F1/F2 of the said warehousing target container C and this The excessive sliding contact between the pin-shaped support tools 76a and 76b supported can be avoided.

However, in the above configuration, the supporting units 67a and 67b are only supported by gravity at a fixed position with respect to the vertical bar-shaped body 66 of the lifting members 65A and 65B, and upward from the fixed position. Since it can move freely against gravity, for example, even in a situation where the vertical bar-shaped body 66 of the lifting members 65A and 65B stops at a lowered position than the above-mentioned abnormal position, the loading and unloading The support units 67a and 67b are supported by the container C for loading and unloading via the pin-shaped support tools 76a and 76b positioned above the flange portion F1/F2 of the target container C, and lifted. The vertical rod-shaped body 66 of the elevating body 65A, 65B only descends relatively with respect to the support units 67a and 67b, and is located above the flange portion F1/F2 of the container C for storage and shipment. The existing pin-shaped support tools 76a and 76b do not depress the flange portions F1/F2 from above.

In addition, in the present invention, the four gripping lifting members 45a to 46b are not essential. For example, by widening the space|interval of a pair of pin-shaped support tools 76a, 76b located both symmetrically with respect to the perpendicular|vertical center line of the two parallel sides of the container C, the four holding|lifting body 45a-46b for holding. ), it is possible to stably lift and transport the container (C). Of course, by arranging four lifting and lowering bodies corresponding to each of the four sides of the container C, the container C is lifted and transported more stably even if there are no four gripping elevators 45a to 46b. It is also possible to configure it to do so.

(industrial applicability)

The container lifting and transport apparatus of the present invention can be effectively utilized for storage of stacked containers of various sizes for storage of stacked containers.

C, C1, C2, Cu, Cd container
F1-F3 Container Flange
B container leg wall
1 Ceiling traveling crane type conveying device
2 main body
3 sub-body
4 rectangular frame structure
6 warehousing conveyor
7 Conveyor for shipment
6a, 7a moving end
8a, 8b bogie
11a, 1lb, 14, 23a, 23b, 37a, 37b timing belt
13, 15, 26, 40 motors
20a, 20b, 29a, 29b, 33a, 33b guide rail
21a, 21b share price movement
22 X-direction drive means
30a~31b additional wing
36 Y-direction drive means
45a~46b Gripping Elevator
47 Fitting part
49 Elevating guide rail
51A, 51B connection means
53, 54, 71, 79 slide guide rail
55 L-shaped support plate
56 support plate
57A, 57B elevating drive means
59 common drive shaft
60a, 60b drive pulley
61 motor with brake
62a~63b guide pulley
Timing belt for 64a, 64b elevating drive
65A, 65B Elevator for lifting
66 vertical rod-shaped body
67a, 67b support unit
75 casing
76a, 76b Pin Shape Support Tool
78 Compression Coil Spring
81A, 81B, 85A, 85B parallelogram link mechanism
82, 88 No central lifting link
83a to 84b, 89a to 90b Parallel oscillation link
86, 87 Elevating Link Units

Claims (5)

At least two lifting and lowering bodies corresponding to each of two parallel sides in a container for transporting articles having a right-angled parallelogram in planar shape are supported by the support structure so as to move freely to and from each other, and each lifting and lowering is supported by the support structure. A support unit facing each of the two parallel sides of the container is attached to the sieve, and to each of these support units, a pair of pin-shaped support tools projecting toward the container side at both sides symmetrical positions with respect to the vertical centerline of each of the two parallel sides of the container is arranged and supported at appropriate intervals in the vertical direction, and each of these pin-shaped support tools is free to move and is held elastically at the protruding position by a spring. A container lifting and transporting device in which shape support tools are alternately arranged in the vertical direction. The method of claim 1,
A pair of wide-spaced pin-shaped support tools are arranged at the center height between the top and bottom of a pair of narrowly spaced pin-shaped support tools, and a pair of widely spaced pin-shaped support tools and a pair of narrowly spaced The container lifting and transporting apparatus characterized by the structure comprised so that a pin-shaped support tool may overlap. The method of claim 1,
A container lifting and transporting device characterized in that a plurality of support units are supported at appropriate intervals in the vertical direction by each lifting body. The method of claim 1,
A vertical bar-shaped body supported by a support structure is provided on each lifting body to move freely approaching/aparting from each other with respect to lifting and lowering, and the support unit is freely raised and lowered with respect to the vertical bar-shaped body, and the vertical bar-shaped body is fixed It is supported at a height position, The container raising/lowering conveyance apparatus characterized by the above-mentioned. 5. The method of claim 4,
Each support unit supports the pin-shaped support tool in half on both sides of the vertical rod-shaped body and includes a casing containing the spring, the vertical rod-shaped body and the container side of the vertical rod-shaped body A container lifting and transporting device characterized in that a slide guide rail laid on the surface and a slide block attached to the casing to fit on the slide guide rail are configured to enter inside the casing when viewed from the side.

Images